SCHUNK PLG 20 Operation manual

Translation of Original Operating Manual
Assembly and Operating Manual
PLG
Configurable Pneumatic 2-Finger Long-Stroke Gripper

Imprint
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Imprint
Copyright:
This manual is protected by copyright. The author is SCHUNK GmbH & Co. KG. All rights
reserved.
Technical changes:
We reserve the right to make alterations for the purpose of technical improvement.
Document number: 1517334
Version: 02.00|08/11/2022|en
Dear Customer,
Thank you for trusting our products and our family-owned company, the leading
technology supplier of robots and production machines.
Our team is always available to answer any questions on this product and other solutions.
Ask us questions and challenge us. We will find a solution!
Best regards,
Your SCHUNK team
Customer Management
Tel. [phone]
Fax [phone]
[email protected]
Please read the operating manual in full and keep it close to the product.

Table of Contents
Table of Contents
1 General.................................................................................................................... 5
1.1 About this manual ................................................................................................ 5
1.1.1 Presentation of Warning Labels ...............................................................5
1.1.2 Definition of Terms...................................................................................5
1.1.3 Applicable documents ..............................................................................6
1.1.4 Sizes and variants .....................................................................................6
1.2 Warranty .............................................................................................................. 7
1.3 Scope of delivery .................................................................................................. 7
1.4 Accessories ........................................................................................................... 7
2 Basic safety notes ................................................................................................... 8
2.1 Intended use......................................................................................................... 8
2.2 Constructional changes ........................................................................................ 8
2.3 Spare parts ........................................................................................................... 8
2.4 Gripper fingers ..................................................................................................... 9
2.5 Ambient conditions and operating conditions .....................................................9
2.6 Personnel qualification......................................................................................... 9
2.7 Personal protective equipment.......................................................................... 10
2.8 Notes on safe operation .....................................................................................10
2.9 Transport ............................................................................................................ 11
2.10 Malfunctions....................................................................................................... 11
2.11 Disposal .............................................................................................................. 11
2.12 Fundamental dangers......................................................................................... 11
2.12.1 Protection during handling and assembly ..............................................12
2.12.2 Protection during commissioning and operation ...................................12
2.12.3 Protection against dangerous movements.............................................12
2.13 Notes on particular risks..................................................................................... 13
3 Technical data.........................................................................................................15
4 Design and description............................................................................................17
4.1 Design ................................................................................................................. 17
4.2 Description ......................................................................................................... 18
5 Transport................................................................................................................19
6 Assembly ................................................................................................................20
6.1 Installing and connecting.................................................................................... 20
6.2 Connections........................................................................................................ 21
6.2.1 Mechanical connection...........................................................................21
6.2.2 Pneumatic connection............................................................................27
6.2.3 Electrical connection - "IOL" variant.......................................................29
6.3 Mounting the sensor .......................................................................................... 31
6.3.1 Overview of sensors ...............................................................................31
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Table of Contents
6.3.2 Mounting the inductive proximity switch...............................................32
6.4 Adjusting freely positionable end stops ............................................................. 33
7 Troubleshooting .....................................................................................................34
7.1 Product does not move ...................................................................................... 34
7.2 Product does not execute a complete stroke..................................................... 34
7.3 Product is opening or closing abruptly ............................................................... 34
7.4 Gripping force is dropping.................................................................................. 35
7.5 Product does not achieve the opening and closing times..................................35
7.6 Variant IOL.......................................................................................................... 35
7.6.1 No communication with the product .....................................................35
8 Maintenance ..........................................................................................................36
8.1 Safety.................................................................................................................. 36
8.2 Observation of the maintenance and lubrication intervals................................36
8.3 Lubricants/Lubrication points (basic lubrication) .............................................. 37
8.4 Lubricate product ............................................................................................... 38
8.5 Replacing seals ................................................................................................... 38
9 Disassembly and disposal........................................................................................39
10 Translation of the original declaration of incorporation ..........................................40
11 Annex to declaration of Incorporation ....................................................................41
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General
1 General
1.1 About this manual
This manual contains important information for a safe and
appropriate use of the product.
This manual is an integral part of the product and must be kept
accessible for the personnel at all times.
Before starting work, the personnel must have read and
understood this operating manual. Prerequisite for safe working is
the observance of all safety instructions in this manual.
In addition to these instructions, the documents listed
under }1.1.3 [/6] are applicable.
NOTE: The illustrations in this manual are intended to provide a
basic understanding and may deviate from the actual version.
1.1.1 Presentation of Warning Labels
To make risks clear, the following signal words and symbols are
used for safety notes.
DANGER
Dangers for persons!
Non-observance will inevitably cause irreversible injury or death.
WARNING
Dangers for persons!
Non-observance can lead to irreversible injury and even death.
CAUTION
Dangers for persons!
Non-observance can cause minor injuries.
NOTICE
Material damage!
Information about avoiding material damage.
1.1.2 Definition of Terms
The term "product" replaces the product name on the title page in
this manual.
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General
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1.1.3 Applicable documents
• General terms of business *
• Catalog data sheet of the purchased product *
• Assembly and operating manuals of the accessories *
• Data sheet of the IO-Link sensor **
• Assembly and Operating Manual for Position Clamping ***
The documents labeled with an asterisk (*) can be downloaded
from schunk.com.
Documents marked with two asterisks (**) can be downloaded
from www.contrinex.com.
Documents marked with three asterisks (***) can be downloaded
from www.mayr.com.
1.1.4 Sizes and variants
This manual applies to the following sizes and variants:
PLG 30 -
Size
20/30/50/75/120
Stroke per jaw
100 mm – 400 mm (freely selectable in increments of 1 mm)
Finger version
1 = short finger length 2 = long finger length
Synchronization
SYN = synchronous OSY = without synchronization ASY = asynchronous
Options *
-KP / -SDV-P / -HBA / -SAB / -IN / -IOL -> All available options can be found in the catalog data sheet.
250 - 2 - SYN - ...
* no details on the name plate
Gripper mounting *
- = none APL= one-piece adapter plate (gripper side) AKO = complete adapter plate (gripper side + blank) ISO... = complete adapter plate (gripper side + ISO flange)
AKO-
Type key
The catalog data sheet contains more information. The latest
relevant version is valid.

General
1.2 Warranty
If the product is used as intended, the warranty is valid for 12
months from the ex-works delivery date under the following
conditions:
• Observe the specified maintenance and lubrication intervals
• Observe the ambient conditions and operating conditions
Parts touching the workpiece and wear parts are not included in
the warranty.
1.3 Scope of delivery
The scope of delivery includes
• Configurable Pneumatic 2-Finger Long-Stroke Gripper PLG in the
version ordered
• Assembly and operating manual for the product including
declaration of incorporation
• Accessory pack
Content of the accessory pack:
• 8 x centering sleeves for mounting the finger
Note: In the case of the adapter plate with ISO flange variant, the
mounting material is already pre-assembled and included in the
scope of delivery.
1.4 Accessories
A wide range of accessories are available for this product
For information regarding which accessory articles can be used
with the corresponding product variants, see catalog data sheet.
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Basic safety notes
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2 Basic safety notes
2.1 Intended use
The product is designed exclusively for gripping and temporarily
holding workpieces or objects.
• The product may only be used within the scope of its technical
data, }3 [/15].
• The product is intended for installation in a machine/automated
system. The applicable guidelines for the machine/automated
system must be observed and complied with.
• The product is intended for industrial and industry-oriented use.
Its use outside enclosed spaces is only permitted if suitable
protective measures are taken against outdoor exposure. The
product is not suitable for use in salty air.
• The product can be used within the permissible load limits and
technical data for holding workpieces during simple machining
operations, but is not a clamping device according to EN
1550:1997+A1:2008.
• Appropriate use of the product includes compliance with all
instructions in this manual.
• Any utilization that exceeds or differs from the appropriate use
is regarded as misuse.
2.2 Constructional changes
Implementation of structural changes
By conversions, changes, and reworking, e.g. additional threads,
holes, or safety devices can impair the functioning or safety of the
product or damage it.
• Structural changes should only be made with the written
approval of SCHUNK.
2.3 Spare parts
Use of unauthorized spare parts
Using unauthorized spare parts can endanger personnel and
damage the product or cause it to malfunction.
• Use only original spare parts or spares authorized by SCHUNK.

Basic safety notes
2.4 Gripper fingers
Requirements of gripper fingers
Accumulated energy can make the product unsafe and risk the
danger of serious injuries and considerable material damage.
• Execute the gripper fingers in such a way that the product
reaches either the "open" or "closed" position in a de-energized
state.
• Only change gripper fingers if no residual energy can be released.
• Make sure that the product and the top jaws are a sufficient
size for the application.
2.5 Ambient conditions and operating conditions
Required ambient conditions and operating conditions
Incorrect ambient and operating conditions can make the product
unsafe, leading to the risk of serious injuries, considerable material
damage and/or a significant reduction to the product's life span.
• Make sure that the product is used only in the context of its
defined application parameters, }3 [/15].
2.6 Personnel qualification
Inadequate qualifications of the personnel
If the personnel working with the product is not sufficiently
qualified, the result may be serious injuries and significant
property damage.
• All work may only be performed by qualified personnel.
• Before working with the product, the personnel must have read
and understood the complete assembly and operating manual.
• Observe the national safety regulations and rules and general
safety instructions.
The following personal qualifications are necessary for the various
activities related to the product:
Trained electrician Due to their technical training, knowledge and experience, trained
electricians are able to work on electrical systems, recognize and
avoid possible dangers and know the relevant standards and
regulations.
Qualified personnel Due to its technical training, knowledge and experience, qualified
personnel is able to perform the delegated tasks, recognize and avoid
possible dangers and knows the relevant standards and regulations.
Instructed person Instructed persons were instructed by the operator about the
delegated tasks and possible dangers due to improper behaviour.
Service personnel of
the manufacturer
Due to its technical training, knowledge and experience, service
personnel of the manufacturer is able to perform the delegated
tasks and to recognize and avoid possible dangers.
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Basic safety notes
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2.7 Personal protective equipment
Use of personal protective equipment
Personal protective equipment serves to protect staff against
danger which may interfere with their health or safety at work.
• When working on and with the product, observe the
occupational health and safety regulations and wear the
required personal protective equipment.
• Observe the valid safety and accident prevention regulations.
• Wear protective gloves to guard against sharp edges and
corners or rough surfaces.
• Wear heat-resistant protective gloves when handling hot
surfaces.
• Wear protective gloves and safety goggles when handling
hazardous substances.
• Wear close-fitting protective clothing and also wear long hair in
a hairnet when dealing with moving components.
2.8 Notes on safe operation
Incorrect handling of the personnel
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Avoid any manner of working that may interfere with the
function and operational safety of the product.
• Use the product as intended.
• Observe the safety notes and assembly instructions.
• Do not expose the product to any corrosive media. This does
not apply to products that are designed for special
environments.
• Eliminate any malfunction immediately.
• Observe the care and maintenance instructions.
• Observe the current safety, accident prevention and
environmental protection regulations regarding the product's
application field.

Basic safety notes
2.9 Transport
Handling during transport
Incorrect handling during transport may impair the product's
safety and cause serious injuries and considerable material
damage.
• When handling heavy weights, use lifting equipment to lift the
product and transport it by appropriate means.
• Secure the product against falling during transportation and
handling.
• Stand clear of suspended loads.
2.10 Malfunctions
Behavior in case of malfunctions
• Immediately remove the product from operation and report the
malfunction to the responsible departments/persons.
• Order appropriately trained personnel to rectify the malfunction.
• Do not recommission the product until the malfunction has
been rectified.
• Test the product after a malfunction to establish whether it still
functions properly and no increased risks have arisen.
2.11 Disposal
Handling of disposal
The incorrect handling of disposal may impair the product's safety
and cause serious injuries as well as considerable material and
environmental harm.
• Follow local regulations on dispatching product components for
recycling or proper disposal.
2.12 Fundamental dangers
General
• Observe safety distances.
• Never deactivate safety devices.
• Before commissioning the product, take appropriate protective
measures to secure the danger zone.
• Disconnect power sources before installation, modification,
maintenance, or calibration. Ensure that no residual energy
remains in the system.
• If the energy supply is connected, do not move any parts by
hand.
• Do not reach into the open mechanism or movement area of
the product during operation.
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Basic safety notes
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2.12.1 Protection during handling and assembly
Incorrect handling and assembly
Incorrect handling and assembly may impair the product's safety
and cause serious injuries and considerable material damage.
• Have all work carried out by appropriately qualified personnel.
• For all work, secure the product against accidental operation.
• Observe the relevant accident prevention rules.
• Use suitable assembly and transport equipment and take
precautions to prevent jamming and crushing.
Incorrect lifting of loads
Falling loads may cause serious injuries and even death.
• Stand clear of suspended loads and do not step into their
swiveling range.
• Never move loads without supervision.
• Do not leave suspended loads unattended.
2.12.2 Protection during commissioning and operation
Falling or violently ejected components
Falling and violently ejected components can cause serious injuries
and even death.
• Take appropriate protective measures to secure the danger
zone.
• Never step into the danger zone during operation.
2.12.3 Protection against dangerous movements
Unexpected movements
Residual energy in the system may cause serious injuries while
working with the product.
• Switch off the energy supply, ensure that no residual energy
remains and secure against inadvertent reactivation.
• Never rely solely on the response of the monitoring function to
avert danger. Until the installed monitors become effective, it
must be assumed that the drive movement is faulty, with its
action being dependent on the control unit and the current
operating condition of the drive. Perform maintenance work,
modifications, and attachments outside the danger zone
defined by the movement range.

Basic safety notes
• To avoid accidents and/or material damage, human access to
the movement range of the machine must be restricted. Limit/
prevent accidental access for people in this area due through
technical safety measures. The protective cover and protective
fence must be rigid enough to withstand the maximum possible
movement energy. EMERGENCY STOP switches must be easily
and quickly accessible. Before starting up the machine or
automated system, check that the EMERGENCY STOP system is
working. Prevent operation of the machine if this protective
equipment does not function correctly.
2.13 Notes on particular risks
DANGER
Risk of fatal injury from suspended loads!
Falling loads can cause serious injuries and even death.
•Stand clear of suspended loads and do not step within their
swiveling range.
•Never move loads without supervision.
•Do not leave suspended loads unattended.
•Wear suitable protective equipment.
WARNING
Risk of injury from objects falling and being ejected!
Falling and ejected objects during operation can lead to serious
injury or death.
•Take appropriate protective measures to secure the danger
zone.
WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in
the system, components can move unexpectedly and cause
serious injuries.
•Before starting any work on the product: Switch off the power
supply and secure against restarting.
•Make sure, that no residual energy remains in the system.
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Basic safety notes
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WARNING
Risk of injury from crushing and impacts!
Serious injury could occur during movement of the base jaw, due
to breakage or loosening of the gripper fingers or if the
workpiece is lost.
•Wear suitable protective equipment.
•Do not reach into the open mechanism or the movement area
of the product.
WARNING
Risk of injury from sharp edges and corners!
Sharp edges and corners can cause cuts.
•Use suitable protective equipment.
WARNING
Risk of injury from objects falling during energy supply failure
Products with a mechanical gripping force maintenance can,
during energy supply failure, still move independently in the
direction specified by the mechanical gripping force
maintenance.
•Secure the end positions of the product with SCHUNK SDV-P
pressure maintenance valves.

Technical data
3 Technical data
Connection data
Designation
Pressure medium Compressed air, compressed air
quality according to
ISO 8573-1: 7:4:4
Nominal operating pressure [bar] 6
Minimum pressure [bar] 2
Maximum pressure [bar] 6
Minimum pressure position
clamping [bar]
4
Ambient conditions and operating conditions
Designation
Ambient temperature [°C]
min.
max.
+5
+90
Protection class IP 30
Noise emission [dB(A)] ≤70
More technical data is included in the catalog data sheet.
Whichever is the latest version.
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Technical data
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Connection data of the integrated IO-Link sensor (variant IOL)
To operate the sensor with IO-Link, an IO-Link master and the
corresponding software are required. The IODD required for
operation can be downloaded from ioddfinder.io-link.com.
Designation IDWE-MxxMP-NMS-A0
Contrinex material number 330-020-494
Operating voltage [VDC]
min.
max.
10
30
Max. ripple (% Ue) 20
Max. current on contact [mA] 200
Voltage drop [V] 2
Short circuit protection yes
Protected against polarity
reversal
yes
Transmission rate COM2
Response time / typ. Switching
time [ms]
4
IO-Link specification V1.1
Repeat accuracy R from final
value max. [%]
±1
Linearity [%] 15
For more information on the sensor, visit www.contrinex.com.

Design and description
4 Design and description
4.1 Design
Configurable Pneumatic 2-Finger Long-Stroke Gripper PLG shown with all possible
options
1 One-piece adapter plate (gripper side)
2 Complete adapter plate consisting of:
• One-piece adapter plate (item 1) + blank (blank without
drilling pattern)
or
• One-piece adapter plate (item 1) + ISO flange EN ISO
9409, }6.2.1.1 [/25]
3.1 Inductive proximity switch
3.2 Attachment kit for inductive proximity switch incl. guide rail
4 Stop for stroke limitation and cam switch for inductive
monitoring
5 Base jaw
6 Main compressed air connection
7.1 Compressed air connection for position clamping / quick air
relief valve
7.2 Cable fitting (cable outlet) monitoring position clamping
8 IO-Link multi-position monitoring
9.1 Freely positionable end stops in the direction of closing
9.2 Freely positionable end stops in the direction of opening
10 Pressure maintenance valve SDV-P
11 Lateral mounting option for attachments
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Design and description
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Positions for the
individually
configurable options
Page 1: Name plate with product designation
Page 2: SCHUNK name plate
4.2 Description
Pneumatic 2-finger parallel gripper with long jaw stroke, high
gripping force and profiled rail guide for the use of long gripper
fingers
By pressure actuation of the opposite piston, the base jaws are
guided by a carrier on the piston, and are set in motion. The
synchronization of the jaw stroke is done with a rack and pinion
principle.
Synchronous variant: Both base jaws are controlled together and
synchronized via rack-and-pinion kinematics.
Asynchronous variant: Both base jaws can be controlled
independently and separately from each other.
Without synchronization: Enables the two base jaws to be
controlled together, whereby the movement of these is not
synchronized.

Transport
5 Transport
WARNING
Risk of injury from falling of the product!
During transport and assembly the product may fall down and
cause serious injuries.
•Secure unit with adequately sized straps.
•Use transport threads.
•Wear appropriate safety equipment.
Left: without adapter plate /
Right: one-piece adapter plate
1. Fasten eye bolts to the threads/through-holes(1) provided for
this purpose.
Note: Eyebolts are not included.
2. When handling heavy weights, use lifting equipment to lift the
product and transport it by appropriate means.
✓Remove the eyebolts after transport.
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Assembly
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6 Assembly
6.1 Installing and connecting
WARNING
Risk of injury due to unexpected movements!
If the power supply is switched on or residual energy remains in
the system, components can move unexpectedly and cause
serious injuries.
•Before starting any work on the product: Switch off the power
supply and secure against restarting.
•Make sure, that no residual energy remains in the system.
WARNING
Risk of injury from falling of the product!
During transport and assembly the product may fall down and
cause serious injuries.
•Secure unit with adequately sized straps.
•Use transport threads.
•Wear appropriate safety equipment.
WARNING
Risk of injury due to improperly carried out assembly!
Improperly carried out assembly work can lead to severe injuries
and property damage.
•Before beginning work, ensure sufficient assembly clearance.
•Secure components from falling down or over.
•Ensure that all work has been carried out in accordance with
the specifications in these instructions.
•Observe tightening torques.